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WO2009034957A1 - Procédé de commande de puissance de robot, dispositif de commande et système de robot - Google Patents

Procédé de commande de puissance de robot, dispositif de commande et système de robot Download PDF

Info

Publication number
WO2009034957A1
WO2009034957A1 PCT/JP2008/066202 JP2008066202W WO2009034957A1 WO 2009034957 A1 WO2009034957 A1 WO 2009034957A1 JP 2008066202 W JP2008066202 W JP 2008066202W WO 2009034957 A1 WO2009034957 A1 WO 2009034957A1
Authority
WO
WIPO (PCT)
Prior art keywords
arithmetic operation
operation means
robot
deviation vector
control method
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/066202
Other languages
English (en)
Japanese (ja)
Inventor
Shingo Ando
Yasuyuki Inoue
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Priority to EP08830339A priority Critical patent/EP2189253A4/fr
Priority to JP2009532180A priority patent/JP5310557B2/ja
Publication of WO2009034957A1 publication Critical patent/WO2009034957A1/fr
Priority to US12/722,535 priority patent/US8380352B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39318—Position loop ann and velocity loop ann and force loop ann
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41371—Force estimation using velocity observer

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

L'invention vise à proposer un procédé de commande de puissance qui peut faire modéliser à un manipulateur de robot même une petite force externe sans l'aide d'un capteur. Des premiers moyens d'opération arithmétique (101) calculent un vecteur d'écart de vitesse de point effecteur (Verr) dans une opération de modélisation de rotation d'axe de poignet et des deuxièmes moyens d'opération arithmétique (102) sélectionnent un élément du vecteur d'écart de vitesse de point effecteur (Verr) comprenant un code, des troisièmes moyens d'opération arithmétique (103) résolvent le vecteur d'écart de vitesse sélectionné en une vitesse d'articulation (ωerr), des quatrièmes moyens d'opération arithmétique (104) accumulent la vitesse d'articulation (ωerr) de façon à calculer une quantité de correction de position (ϑadd) et renvoie la quantité de correction de position (ϑadd) aux moyens de commande de position (105a-f) avec des limites de couple.
PCT/JP2008/066202 2007-09-14 2008-09-09 Procédé de commande de puissance de robot, dispositif de commande et système de robot Ceased WO2009034957A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08830339A EP2189253A4 (fr) 2007-09-14 2008-09-09 Procédé de commande de puissance de robot, dispositif de commande et système de robot
JP2009532180A JP5310557B2 (ja) 2007-09-14 2008-09-09 ロボットの力制御方法、制御装置およびロボットシステム
US12/722,535 US8380352B2 (en) 2007-09-14 2010-03-12 Robot system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007238914 2007-09-14
JP2007-238914 2007-09-14

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/722,535 Continuation US8380352B2 (en) 2007-09-14 2010-03-12 Robot system

Publications (1)

Publication Number Publication Date
WO2009034957A1 true WO2009034957A1 (fr) 2009-03-19

Family

ID=40451964

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/066202 Ceased WO2009034957A1 (fr) 2007-09-14 2008-09-09 Procédé de commande de puissance de robot, dispositif de commande et système de robot

Country Status (4)

Country Link
US (1) US8380352B2 (fr)
EP (1) EP2189253A4 (fr)
JP (1) JP5310557B2 (fr)
WO (1) WO2009034957A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015131385A (ja) * 2013-12-13 2015-07-23 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
JP2015231663A (ja) * 2014-06-10 2015-12-24 シーメンス アクチエンゲゼルシヤフトＳｉｅｍｅｎｓ Ａｋｔｉｅｎｇｅｓｅｌｌｓｃｈａｆｔ 多数の要素システムを制御調節する装置および方法
CN109159151A (zh) * 2018-10-23 2019-01-08 北京无线电测量研究所 一种机械臂空间轨迹跟踪动态补偿方法和系统
US10668619B2 (en) 2017-06-07 2020-06-02 Fanuc Corporation Controller and machine learning device
CN112566756A (zh) * 2018-08-10 2021-03-26 Abb瑞士股份有限公司 用于控制机器人的运动的方法

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8532825B1 (en) * 2010-08-25 2013-09-10 The Boeing Company Software compensation for kinematically singular machines
KR102541266B1 (ko) * 2014-03-17 2023-06-13 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 툴 포즈를 유지하는 시스템 및 방법
JP5946859B2 (ja) * 2014-04-14 2016-07-06 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
EP2990165A3 (fr) * 2014-08-25 2016-06-29 Seiko Epson Corporation Robot de montage d'un objet dans un autre
US10230200B1 (en) 2016-02-04 2019-03-12 Laura Tomasko Cord retractor

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04152082A (ja) * 1990-10-12 1992-05-26 Fujitsu Ltd ロボット倣い制御装置
JP2003127079A (ja) * 2001-10-19 2003-05-08 Yaskawa Electric Corp ロボット制御装置
JP2003211376A (ja) * 2002-01-16 2003-07-29 Yaskawa Electric Corp ロボットの制御装置及び制御方法
JP2003216243A (ja) * 2002-01-18 2003-07-31 Yaskawa Electric Corp ロボットの制御装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4675502A (en) * 1985-12-23 1987-06-23 General Electric Company Real time tracking control for taught path robots
JPH0639760A (ja) * 1992-07-23 1994-02-15 Hitachi Ltd ロボットの制御装置
JP2619227B2 (ja) * 1994-11-30 1997-06-11 川崎重工業株式会社 ロボットの制御方法および装置
JPH1142574A (ja) * 1997-07-28 1999-02-16 Matsushita Electric Ind Co Ltd ロボットの制御方法および制御装置
JP4134369B2 (ja) * 1998-02-09 2008-08-20 株式会社安川電機 ロボットの制御装置
JP3473834B2 (ja) * 1999-11-29 2003-12-08 株式会社安川電機 ロボットの制御装置
US7881896B2 (en) * 2002-02-14 2011-02-01 Faro Technologies, Inc. Portable coordinate measurement machine with integrated line laser scanner
US7212886B2 (en) * 2002-12-12 2007-05-01 Kabushiki Kaisha Yaskawa Denki Robot control apparatus and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04152082A (ja) * 1990-10-12 1992-05-26 Fujitsu Ltd ロボット倣い制御装置
JP2003127079A (ja) * 2001-10-19 2003-05-08 Yaskawa Electric Corp ロボット制御装置
JP2003211376A (ja) * 2002-01-16 2003-07-29 Yaskawa Electric Corp ロボットの制御装置及び制御方法
JP2003216243A (ja) * 2002-01-18 2003-07-31 Yaskawa Electric Corp ロボットの制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2189253A4 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015131385A (ja) * 2013-12-13 2015-07-23 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
JP2015231663A (ja) * 2014-06-10 2015-12-24 シーメンス アクチエンゲゼルシヤフトＳｉｅｍｅｎｓ Ａｋｔｉｅｎｇｅｓｅｌｌｓｃｈａｆｔ 多数の要素システムを制御調節する装置および方法
US10007280B2 (en) 2014-06-10 2018-06-26 Siemens Aktiengesellschaft Apparatus and method for controlling and regulating a multi-element system
US10668619B2 (en) 2017-06-07 2020-06-02 Fanuc Corporation Controller and machine learning device
CN112566756A (zh) * 2018-08-10 2021-03-26 Abb瑞士股份有限公司 用于控制机器人的运动的方法
CN109159151A (zh) * 2018-10-23 2019-01-08 北京无线电测量研究所 一种机械臂空间轨迹跟踪动态补偿方法和系统
CN109159151B (zh) * 2018-10-23 2021-12-10 北京无线电测量研究所 一种机械臂空间轨迹跟踪动态补偿方法和系统

Also Published As

Publication number Publication date
EP2189253A1 (fr) 2010-05-26
JPWO2009034957A1 (ja) 2010-12-24
US20110087374A1 (en) 2011-04-14
JP5310557B2 (ja) 2013-10-09
US8380352B2 (en) 2013-02-19
EP2189253A4 (fr) 2011-08-10

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